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<a href="fcl__collision__queries_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * fcl_primitive_collision_tests.h</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Apr 11, 2018</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Author: Vitaliy Rusinov</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef CPP_COLLISION_FCL_FCL_PRIMITIVE_COLLISION_TESTS_H_</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define CPP_COLLISION_FCL_FCL_PRIMITIVE_COLLISION_TESTS_H_</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;fcl/broadphase/broadphase_dynamic_AABB_tree.h&gt;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;fcl/math/constants.h&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;fcl/narrowphase/collision.h&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;fcl/narrowphase/collision_object.h&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="application_8h.html">collision/application.h</a>&quot;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__helpers_8h.html">collision/solvers/fcl/fcl_helpers.h</a>&quot;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="point_8h.html">collision/narrowphase/point.h</a>&quot;</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="rectangle__aabb_8h.html">collision/narrowphase/rectangle_aabb.h</a>&quot;</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="rectangle__obb_8h.html">collision/narrowphase/rectangle_obb.h</a>&quot;</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="shape_8h.html">collision/narrowphase/shape.h</a>&quot;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="sphere_8h.html">collision/narrowphase/sphere.h</a>&quot;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="triangle_8h.html">collision/narrowphase/triangle.h</a>&quot;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__collision__object_8h.html">collision/solvers/fcl/fcl_collision_object.h</a>&quot;</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__collision__object__group_8h.html">collision/solvers/fcl/fcl_collision_object_group.h</a>&quot;</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__collision__requests_8h.html">collision/solvers/fcl/fcl_collision_requests.h</a>&quot;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="primitive__collision__queries_8h.html">collision/solvers/primitive_collision_queries.h</a>&quot;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keyword">namespace </span>solvers {</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="keyword">namespace </span>solverFCL {</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html">   38</a></span>&#160;<span class="keyword">namespace </span>fcl_primitive_queries {</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ac49bc6cc9090c91378b0a9cdc75a4572">   40</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ac49bc6cc9090c91378b0a9cdc75a4572">fcl_testAABB</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obj,</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;                         <span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html">collision::RectangleAABB</a> &amp;rect) {</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">SolverEntity_FCL</a> *obj_entity;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1">FCL_COLLISION_ENTITY_TYPE</a> enttype =</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a976460fe4920622d95f89d477c8f4ad8">get_object_fcl_entity_type</a>(obj, obj_entity);</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keywordflow">if</span> (enttype == <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900">COLLISION_ENTITY_TYPE_FCL_OBJECT</a>) {</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> *obj_fcl =</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        static_cast&lt;const FCLCollisionObject *&gt;(obj_entity);</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;double&gt;</a> *fcl_obj =</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        obj_fcl-&gt;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html#acdbdfc3018beb1aad01b4d8820d9ac59">getCollisionObject_fcl</a>().get();</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keywordflow">if</span> (!fcl_obj) {</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      <span class="keywordflow">throw</span>;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    }</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keyword">const</span> fcl::AABB&lt;double&gt; &amp;aabb1 = fcl_obj-&gt;getAABB();</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    Eigen::Vector2d min_ = rect.<a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a3526b885eeb118a630d3a4aeb8476cb6">min</a>();</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    Eigen::Vector2d max_ = rect.<a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html#a0282f6f354fcf08e35e4373183374c4e">max</a>();</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    fcl::Vector3d min_3d(min_[0], min_[1], 0);</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    fcl::Vector3d max_3d(max_[0], max_[1], 0);</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    fcl::AABB&lt;double&gt; aabb2(min_3d, max_3d);</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keywordflow">return</span> aabb1.overlap(aabb2);</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  }</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;}</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keyword">using</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ad65756f05b6cff5095b454fedec4f9c1">CollisionGeometryPtr_t</a> =</div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ad65756f05b6cff5095b454fedec4f9c1">   70</a></span>&#160;    std::shared_ptr&lt;fcl::CollisionGeometry&lt;FCL_PRECISION&gt;&gt;;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="keyword">inline</span> fcl::Transform3&lt;FCL_PRECISION&gt;</div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a8880000e056a823b8d817c05f1bf8d97">   73</a></span>&#160;<a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a8880000e056a823b8d817c05f1bf8d97">fcl_get_3d_translation</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;pos) {</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordflow">return</span> fcl::Transform3&lt;FCL_PRECISION&gt;(fcl::Translation3&lt;FCL_PRECISION&gt;(</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      fcl::Vector3&lt;FCL_PRECISION&gt;(pos.x(), pos.y(), 0)));</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;}</div><div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a14e12f301ddc98e69eac5cd268df1c1b">   77</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a14e12f301ddc98e69eac5cd268df1c1b">fcl_collide</a>(<span class="keyword">const</span> <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> &amp;object_A,</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;                        <span class="keyword">const</span> <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> &amp;object_B) {</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  fcl::CollisionRequest&lt;FCL_PRECISION&gt; collisionRequest(</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      1, <span class="keyword">false</span>); <span class="comment">// Disable finding of contact points</span></div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  fcl::CollisionResult&lt;FCL_PRECISION&gt; collisionResult;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  collisionRequest.enable_cost = <span class="keyword">false</span>;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  collisionRequest.gjk_solver_type = <a class="code" href="fcl__decl_8h.html#ac452cb3fe2aa89056f0a0cf62c73e1bf">FCL_SOLVER_TYPE</a>;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  fcl::collide(&amp;object_A, &amp;object_B, collisionRequest, collisionResult);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordflow">return</span> collisionResult.isCollision();</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;}</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">   88</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;obj_first,</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                                           <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;obj_second)</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;{</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  std::shared_ptr&lt;fcl::CollisionObject&lt;double&gt;&gt; col_obj_1;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  col_obj_1 = obj_first.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html#acdbdfc3018beb1aad01b4d8820d9ac59">getCollisionObject_fcl</a>();</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  std::shared_ptr&lt;fcl::CollisionObject&lt;double&gt;&gt; col_obj_2;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  col_obj_2 = obj_second.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html#acdbdfc3018beb1aad01b4d8820d9ac59">getCollisionObject_fcl</a>();</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a14e12f301ddc98e69eac5cd268df1c1b">fcl_collide</a>(*col_obj_1, *col_obj_2);</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;}</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="preprocessor">#if ENABLE_COLLISION_TESTS</span></div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="comment">// TODO: throw exception on malloc failure</span></div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span></div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> &amp;group_first,</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;obj_second,</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;                               <span class="keywordtype">bool</span> test_enable = <span class="keyword">true</span>) {</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="keywordflow">if</span> (test_enable) {</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <a class="code" href="classcollision_1_1test_1_1_shape_group_test.html">collision::test::ShapeGroupTest</a> sg_test;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    sg_test.<a class="code" href="classcollision_1_1test_1_1_shape_group_test.html#ad41dbbaf44670796d414e27cd9457a53">run_test_collide</a>(</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        obj_second.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html#abe53d03a8c4eaf8fe5477bab6244e182">getParent</a>()-&gt;shared_from_this(),</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        static_cast&lt;const ShapeGroup *&gt;(group_first.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a4412f500cc20a3300a1be561e1722b87">getParent</a>()));</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="preprocessor">#if ENABLE_COLLISION_TESTS_NARROWPHASE</span></div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    sg_test.<a class="code" href="classcollision_1_1test_1_1_shape_group_test.html#adc5f5a28b1a6cee9de57a69f15f3e0bc">run_test_narrowphase</a>(</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        obj_second.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html#abe53d03a8c4eaf8fe5477bab6244e182">getParent</a>()-&gt;shared_from_this(),</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        static_cast&lt;const ShapeGroup *&gt;(group_first.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a4412f500cc20a3300a1be561e1722b87">getParent</a>()));</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  }</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span></div><div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9483119b496b51a298bbc83c351714b3">  120</a></span>&#160;<a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> &amp;group_first,</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;obj_second) {</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keywordtype">bool</span> result = <span class="keyword">false</span>;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  fcl::BroadPhaseCollisionManager&lt;FCL_PRECISION&gt; *mngr;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  group_first.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a68852c711d2671871f96f087fb36e57c">getManager_fcl</a>(mngr);</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  fcl::CollisionResult&lt;FCL_PRECISION&gt; collisionResult;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html">CollisionData&lt;FCL_PRECISION&gt;</a> self_data_obstacles1;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  fcl::CollisionRequest&lt;FCL_PRECISION&gt; collisionRequest(</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      1, <span class="keyword">false</span>); <span class="comment">// Disable finding of contact points</span></div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  collisionRequest.enable_cost = <span class="keyword">false</span>;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  collisionRequest.gjk_solver_type = <a class="code" href="fcl__decl_8h.html#ac452cb3fe2aa89056f0a0cf62c73e1bf">FCL_SOLVER_TYPE</a>;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  self_data_obstacles1.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#a3998dd02d15239f4e3b6efc166f6f91d">request</a> = collisionRequest;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  std::shared_ptr&lt;fcl::CollisionObject&lt;double&gt;&gt; col_obj_1;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  col_obj_1 = obj_second.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html#acdbdfc3018beb1aad01b4d8820d9ac59">getCollisionObject_fcl</a>();</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  mngr-&gt;collide(col_obj_1.get(), &amp;self_data_obstacles1,</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;                defaultCollisionFunction&lt;FCL_PRECISION&gt;);</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  result = self_data_obstacles1.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#aba9199b3277116f3d66f4e71131a19a4">result</a>.isCollision();</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="keywordflow">return</span> result;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;}</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">int</span></div><div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a1ee5dc99b04ac808c89d4d7d60f5244b">  144</a></span>&#160;<a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a1ee5dc99b04ac808c89d4d7d60f5244b">fcl_group_overlap</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> &amp;group_first,</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;                  <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> &amp;group_second,</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;                  std::vector&lt;std::pair&lt;int, int&gt;&gt; &amp;retlist,</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                  std::vector&lt;std::pair&lt;int, int&gt;&gt; *missed_col_naive_in = 0) {</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  <span class="comment">// bool result=false;</span></div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  fcl::BroadPhaseCollisionManager&lt;FCL_PRECISION&gt; *mngr1;</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  group_first.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a68852c711d2671871f96f087fb36e57c">getManager_fcl</a>(mngr1);</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  fcl::BroadPhaseCollisionManager&lt;FCL_PRECISION&gt; *mngr2;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  group_second.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a68852c711d2671871f96f087fb36e57c">getManager_fcl</a>(mngr2);</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  fcl::CollisionResult&lt;FCL_PRECISION&gt; collisionResult;</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html">CollisionRequestDataOverlap</a> rdata(group_first.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#aa5a7e9f9d8d4b30ae704bbd88d977e02">getContainer</a>(),</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                                    group_second.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#aa5a7e9f9d8d4b30ae704bbd88d977e02">getContainer</a>());</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_overlap.html">CollisionDataOverlap&lt;FCL_PRECISION&gt;</a> self_data_obstacles(rdata);</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  fcl::CollisionRequest&lt;FCL_PRECISION&gt; collisionRequest(</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      1, <span class="keyword">false</span>); <span class="comment">// Disable finding of contact points</span></div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  collisionRequest.gjk_solver_type = <a class="code" href="fcl__decl_8h.html#ac452cb3fe2aa89056f0a0cf62c73e1bf">FCL_SOLVER_TYPE</a>;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  collisionRequest.enable_cost = <span class="keyword">false</span>;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  self_data_obstacles.request = collisionRequest;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  mngr1-&gt;collide(mngr2, &amp;self_data_obstacles,</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;                 defaultCollisionFunctionOverlap&lt;FCL_PRECISION&gt;);</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <span class="keyword">auto</span> res = self_data_obstacles.self_reqData.getRequestResultPairs();</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> el : res) {</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    retlist.push_back(el);</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  }</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;}</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;<span class="preprocessor">#if ENABLE_COLLISION_TESTS</span></div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span></div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;<a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> &amp;group_first,</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> &amp;group_second,</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                               <span class="keywordtype">bool</span> enable_test = <span class="keyword">true</span>) {</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <span class="keywordflow">if</span> (enable_test) {</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <a class="code" href="classcollision_1_1test_1_1_shape_group_test.html">collision::test::ShapeGroupTest</a> sg_test;</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> *gr_first =</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        static_cast&lt;const ShapeGroup *&gt;(group_first.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a4412f500cc20a3300a1be561e1722b87">getParent</a>());</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> *gr_second =</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        static_cast&lt;const ShapeGroup *&gt;(group_second.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a4412f500cc20a3300a1be561e1722b87">getParent</a>());</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    sg_test.<a class="code" href="classcollision_1_1test_1_1_shape_group_test.html#ad41dbbaf44670796d414e27cd9457a53">run_test_collide</a>(gr_first, gr_second);</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;<span class="preprocessor">#if ENABLE_COLLISION_TESTS_NARROWPHASE</span></div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    sg_test.<a class="code" href="classcollision_1_1test_1_1_shape_group_test.html#adc5f5a28b1a6cee9de57a69f15f3e0bc">run_test_narrowphase</a>(gr_first, gr_second);</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  }</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span></div><div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a36ce06b6392739bd01a3a614055dcfa0">  199</a></span>&#160;<a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> &amp;group_first,</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> &amp;group_second) {</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  <span class="keywordtype">bool</span> result = <span class="keyword">false</span>;</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  fcl::BroadPhaseCollisionManager&lt;FCL_PRECISION&gt; *mngr1;</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  group_first.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a68852c711d2671871f96f087fb36e57c">getManager_fcl</a>(mngr1);</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  fcl::BroadPhaseCollisionManager&lt;FCL_PRECISION&gt; *mngr2;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  group_second.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a68852c711d2671871f96f087fb36e57c">getManager_fcl</a>(mngr2);</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  fcl::CollisionResult&lt;FCL_PRECISION&gt; collisionResult;</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html">CollisionData&lt;FCL_PRECISION&gt;</a> self_data_obstacles;</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  fcl::CollisionRequest&lt;FCL_PRECISION&gt; collisionRequest(</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      1, <span class="keyword">false</span>); <span class="comment">// Disable finding of contact points</span></div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  collisionRequest.gjk_solver_type = <a class="code" href="fcl__decl_8h.html#ac452cb3fe2aa89056f0a0cf62c73e1bf">FCL_SOLVER_TYPE</a>;</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  collisionRequest.enable_cost = <span class="keyword">false</span>;</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  self_data_obstacles.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#a3998dd02d15239f4e3b6efc166f6f91d">request</a> = collisionRequest;</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  mngr1-&gt;collide(mngr2, &amp;self_data_obstacles,</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;                 defaultCollisionFunction&lt;FCL_PRECISION&gt;);</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  result = self_data_obstacles.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#aba9199b3277116f3d66f4e71131a19a4">result</a>.isCollision();</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  <span class="keywordflow">return</span> result;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;}</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;</div><div class="line"><a name="l00225"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9c6317723211c928a40518ddbe75d2d5">  225</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9c6317723211c928a40518ddbe75d2d5">fcl_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_point.html">Point</a> &amp;point,</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;                                   <span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html">RectangleAABB</a> &amp;aabb) {</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>((<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)point,</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;                                        (<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)aabb);</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;}</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;</div><div class="line"><a name="l00232"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae584803056a887f4893b453a6a7cab73">  232</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9c6317723211c928a40518ddbe75d2d5">fcl_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_point.html">Point</a> &amp;point,</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;                                   <span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a> &amp;obb) {</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>((<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)point,</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;                                        (<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)obb);</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;}</div><div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9249ee901f5ad72b3f4ca87274df06fe">  237</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9c6317723211c928a40518ddbe75d2d5">fcl_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_point.html">Point</a> &amp;point, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_sphere.html">Sphere</a> &amp;sphere) {</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>((<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)point,</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;                                        (<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)sphere);</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;}</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;</div><div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a28235316a20f12f3ad36f6aab44319da">  242</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9c6317723211c928a40518ddbe75d2d5">fcl_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_point.html">Point</a> &amp;point1, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_point.html">Point</a> &amp;point2) {</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>((<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)point1,</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;                                        (<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)point2);</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;}</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;</div><div class="line"><a name="l00247"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae2d7225102825d765c26ec76a4160dea">  247</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9c6317723211c928a40518ddbe75d2d5">fcl_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_point.html">Point</a> &amp;point,</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;                                   <span class="keyword">const</span> <a class="code" href="classcollision_1_1_triangle.html">Triangle</a> &amp;triangle) {</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>((<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)point,</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;                                        (<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)triangle);</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;}</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;</div><div class="line"><a name="l00253"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a65c3a94eee7705eeac5e6123360ab663">  253</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9c6317723211c928a40518ddbe75d2d5">fcl_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_polygon.html">Polygon</a> &amp;polyg1,</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;                                   <span class="keyword">const</span> <a class="code" href="classcollision_1_1_polygon.html">Polygon</a> &amp;polyg2) {</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>((<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)polyg1,</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;                                        (<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)polyg2);</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;}</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;</div><div class="line"><a name="l00260"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a8073ee319cf60b404ccd8b805c9461d3">  260</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9c6317723211c928a40518ddbe75d2d5">fcl_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_polygon.html">Polygon</a> &amp;polyg, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape.html">Shape</a> &amp;shape) {</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>((<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)polyg,</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;                                        (<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)shape);</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;}</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;</div><div class="line"><a name="l00265"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ad98d91b718388771a05370ca9042cd65">  265</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9c6317723211c928a40518ddbe75d2d5">fcl_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> &amp;shg,</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;                                   <span class="keyword">const</span> <a class="code" href="classcollision_1_1_polygon.html">Polygon</a> &amp;polyg) {</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>((<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> &amp;)shg,</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;                                        (<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)polyg);</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;}</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;</div><div class="line"><a name="l00271"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a390784cd7639b60dd6fe8503116c0d42">  271</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9c6317723211c928a40518ddbe75d2d5">fcl_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_sphere.html">Sphere</a> &amp;sphere_first,</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;                                   <span class="keyword">const</span> <a class="code" href="classcollision_1_1_sphere.html">Sphere</a> &amp;sphere_second) {</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>(</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      (<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)sphere_first,</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      (<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)sphere_second);</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;}</div><div class="line"><a name="l00277"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ac85044e8f1dce347e7397b01197b51ee">  277</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9c6317723211c928a40518ddbe75d2d5">fcl_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html">RectangleAABB</a> &amp;aabb_first,</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;                                   <span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html">RectangleAABB</a> &amp;aabb_second) {</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>(</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      (<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)aabb_first,</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      (<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)aabb_second);</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;}</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;</div><div class="line"><a name="l00284"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a0ff62919467740345be72bba29538032">  284</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9c6317723211c928a40518ddbe75d2d5">fcl_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html">RectangleAABB</a> &amp;aabb,</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;                                   <span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a> &amp;obb) {</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>((<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)aabb,</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;                                        (<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)obb);</div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;}</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;</div><div class="line"><a name="l00290"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a015419f45958e0de492a1349933f6246">  290</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9c6317723211c928a40518ddbe75d2d5">fcl_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> &amp;shg, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape.html">Shape</a> &amp;shape) {</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>((<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> &amp;)shg,</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;                                        (<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)shape);</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;}</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;</div><div class="line"><a name="l00295"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a12c9264a900895cadafab8259597d51d">  295</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9c6317723211c928a40518ddbe75d2d5">fcl_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> &amp;shg1,</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;                                   <span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> &amp;shg2) {</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>((<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> &amp;)shg1,</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;                                        (<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> &amp;)shg2);</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;}</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;</div><div class="line"><a name="l00301"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ac6d84d0c28b1c87709723c9e1a57ce17">  301</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9c6317723211c928a40518ddbe75d2d5">fcl_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html">RectangleAABB</a> &amp;aabb,</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;                                   <span class="keyword">const</span> <a class="code" href="classcollision_1_1_sphere.html">Sphere</a> &amp;sphere) {</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>((<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)aabb,</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;                                        (<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)sphere);</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;}</div><div class="line"><a name="l00306"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#af1dc32de28e69863164ea9d8ed35ea82">  306</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9c6317723211c928a40518ddbe75d2d5">fcl_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a> &amp;obb_first,</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;                                   <span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a> &amp;obb_second) {</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>((<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)obb_first,</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;                                        (<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)obb_second);</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;}</div><div class="line"><a name="l00311"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a80a8b4029e52505ab6627f7309a9a66c">  311</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9c6317723211c928a40518ddbe75d2d5">fcl_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a> &amp;obb,</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;                                   <span class="keyword">const</span> <a class="code" href="classcollision_1_1_sphere.html">Sphere</a> &amp;sphere) {</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>((<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)obb,</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;                                        (<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)sphere);</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;}</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;</div><div class="line"><a name="l00318"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae8bdd56107fe9754b3660157958a969d">  318</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9c6317723211c928a40518ddbe75d2d5">fcl_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_sphere.html">Sphere</a> &amp;sphere,</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;                                   <span class="keyword">const</span> <a class="code" href="classcollision_1_1_triangle.html">Triangle</a> &amp;triangle) {</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>((<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)sphere,</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;                                        (<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)triangle);</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;}</div><div class="line"><a name="l00323"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#aa8d00dfdaeee7b54e3910bfc91c52462">  323</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9c6317723211c928a40518ddbe75d2d5">fcl_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_triangle.html">Triangle</a> &amp;triangle_a,</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;                                   <span class="keyword">const</span> <a class="code" href="classcollision_1_1_triangle.html">Triangle</a> &amp;triangle_b) {</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>((<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)triangle_a,</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;                                        (<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)triangle_b);</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;}</div><div class="line"><a name="l00328"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9afb10489b3dc503bb2584b2434d26aa">  328</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9c6317723211c928a40518ddbe75d2d5">fcl_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a> &amp;obb,</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;                                   <span class="keyword">const</span> <a class="code" href="classcollision_1_1_triangle.html">Triangle</a> &amp;triangle) {</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>((<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)obb,</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;                                        (<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)triangle);</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;}</div><div class="line"><a name="l00334"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a2195079dfb55af7ae3f401d933c3c40b">  334</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9c6317723211c928a40518ddbe75d2d5">fcl_collisionDetection</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html">RectangleAABB</a> &amp;aabb,</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;                                   <span class="keyword">const</span> <a class="code" href="classcollision_1_1_triangle.html">Triangle</a> &amp;triangle) {</div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_generic_collisionDetection</a>((<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)aabb,</div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;                                        (<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;)triangle);</div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;}</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;</div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;} <span class="comment">// namespace fcl_primitive_queries</span></div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;} <span class="comment">// namespace solverFCL</span></div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;} <span class="comment">// namespace solvers</span></div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;} <span class="comment">// namespace collision</span></div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* CPP_COLLISION_FCL_FCL_PRIMITIVE_COLLISION_TESTS_H_ */</span><span class="preprocessor"></span></div><div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html_aa5a7e9f9d8d4b30ae704bbd88d977e02"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#aa5a7e9f9d8d4b30ae704bbd88d977e02">collision::solvers::solverFCL::FCLCollisionObjectGroup::getContainer</a></div><div class="ttdeci">const ICollisionContainer * getContainer(void) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8h_source.html#l00053">fcl_collision_object_group.h:53</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html">collision::RectangleOBB</a></div><div class="ttdoc">Oriented rectangle.</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8h_source.html#l00016">rectangle_obb.h:16</a></div></div>
<div class="ttc" id="classcollision_1_1test_1_1_shape_group_test_html"><div class="ttname"><a href="classcollision_1_1test_1_1_shape_group_test.html">collision::test::ShapeGroupTest</a></div><div class="ttdef"><b>Definition:</b> <a href="broadphase__test_8h_source.html#l00088">broadphase_test.h:88</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900">collision::solvers::solverFCL::COLLISION_ENTITY_TYPE_FCL_OBJECT</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__entity__type_8h_source.html#l00017">fcl_entity_type.h:17</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_html_abe53d03a8c4eaf8fe5477bab6244e182"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html#abe53d03a8c4eaf8fe5477bab6244e182">collision::solvers::solverFCL::FCLCollisionObject::getParent</a></div><div class="ttdeci">const CollisionObject * getParent(void) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object_8h_source.html#l00068">fcl_collision_object.h:68</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_html_aba9199b3277116f3d66f4e71131a19a4"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#aba9199b3277116f3d66f4e71131a19a4">collision::solvers::solverFCL::CollisionData::result</a></div><div class="ttdeci">fcl::CollisionResult&lt; S &gt; result</div><div class="ttdoc">Collision result.</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00174">fcl_collision_requests.h:174</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">collision::solvers::solverFCL::FCLCollisionObjectGroup</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8h_source.html#l00027">fcl_collision_object_group.h:27</a></div></div>
<div class="ttc" id="application_8h_html"><div class="ttname"><a href="application_8h.html">application.h</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries_html_ac49bc6cc9090c91378b0a9cdc75a4572"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ac49bc6cc9090c91378b0a9cdc75a4572">collision::solvers::solverFCL::fcl_primitive_queries::fcl_testAABB</a></div><div class="ttdeci">bool fcl_testAABB(CollisionObjectConstPtr obj, const collision::RectangleAABB &amp;rect)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__queries_8h_source.html#l00040">fcl_collision_queries.h:40</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_aa90569f714d7d5ce0cbeb73fb19775e1"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1">collision::solvers::solverFCL::FCL_COLLISION_ENTITY_TYPE</a></div><div class="ttdeci">FCL_COLLISION_ENTITY_TYPE</div><div class="ttdef"><b>Definition:</b> <a href="fcl__entity__type_8h_source.html#l00014">fcl_entity_type.h:14</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html"><div class="ttname"><a href="classcollision_1_1_triangle.html">collision::Triangle</a></div><div class="ttdoc">Triangle.</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8h_source.html#l00017">triangle.h:17</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">collision::solvers::solverFCL::SolverEntity_FCL</a></div><div class="ttdef"><b>Definition:</b> <a href="solver__entity__fcl_8h_source.html#l00010">solver_entity_fcl.h:10</a></div></div>
<div class="ttc" id="primitive__collision__queries_8h_html"><div class="ttname"><a href="primitive__collision__queries_8h.html">primitive_collision_queries.h</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">collision::solvers::solverFCL::FCLCollisionObject</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object_8h_source.html#l00027">fcl_collision_object.h:27</a></div></div>
<div class="ttc" id="point_8h_html"><div class="ttname"><a href="point_8h.html">point.h</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_object_html"><div class="ttname"><a href="classfcl_1_1_collision_object.html">fcl::CollisionObject</a></div><div class="ttdef"><b>Definition:</b> <a href="i__fcl__collision__object_8h_source.html#l00011">i_fcl_collision_object.h:11</a></div></div>
<div class="ttc" id="fcl__collision__object_8h_html"><div class="ttname"><a href="fcl__collision__object_8h.html">fcl_collision_object.h</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html"><div class="ttname"><a href="classcollision_1_1_shape_group.html">collision::ShapeGroup</a></div><div class="ttdoc">ShapeGroup can contain simple shapes.</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8h_source.html#l00033">shape_group.h:33</a></div></div>
<div class="ttc" id="fcl__collision__requests_8h_html"><div class="ttname"><a href="fcl__collision__requests_8h.html">fcl_collision_requests.h</a></div></div>
<div class="ttc" id="namespacecollision_html_a405f2c04407997fea529aad88f04ad30"><div class="ttname"><a href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">collision::CollisionObjectConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const CollisionObject &gt; CollisionObjectConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00041">collision_object.h:41</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html">collision::solvers::solverFCL::CollisionRequestDataOverlap</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00126">fcl_collision_requests.h:126</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_a3526b885eeb118a630d3a4aeb8476cb6"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#a3526b885eeb118a630d3a4aeb8476cb6">collision::RectangleAABB::min</a></div><div class="ttdeci">Eigen::Vector2d min() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8cc_source.html#l00060">rectangle_aabb.cc:60</a></div></div>
<div class="ttc" id="sphere_8h_html"><div class="ttname"><a href="sphere_8h.html">sphere.h</a></div></div>
<div class="ttc" id="classcollision_1_1test_1_1_shape_group_test_html_ad41dbbaf44670796d414e27cd9457a53"><div class="ttname"><a href="classcollision_1_1test_1_1_shape_group_test.html#ad41dbbaf44670796d414e27cd9457a53">collision::test::ShapeGroupTest::run_test_collide</a></div><div class="ttdeci">bool run_test_collide(CollisionObjectConstPtr co, const ShapeGroup *sg)</div></div>
<div class="ttc" id="triangle_8h_html"><div class="ttname"><a href="triangle_8h.html">triangle.h</a></div></div>
<div class="ttc" id="fcl__collision__object__group_8h_html"><div class="ttname"><a href="fcl__collision__object__group_8h.html">fcl_collision_object_group.h</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a976460fe4920622d95f89d477c8f4ad8"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a976460fe4920622d95f89d477c8f4ad8">collision::solvers::solverFCL::get_object_fcl_entity_type</a></div><div class="ttdeci">FCL_COLLISION_ENTITY_TYPE get_object_fcl_entity_type(const CollisionObject *obj2)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__helpers_8h_source.html#l00014">fcl_helpers.h:14</a></div></div>
<div class="ttc" id="classcollision_1_1_sphere_html"><div class="ttname"><a href="classcollision_1_1_sphere.html">collision::Sphere</a></div><div class="ttdoc">Circle.</div><div class="ttdef"><b>Definition:</b> <a href="sphere_8h_source.html#l00014">sphere.h:14</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_html_acdbdfc3018beb1aad01b4d8820d9ac59"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html#acdbdfc3018beb1aad01b4d8820d9ac59">collision::solvers::solverFCL::FCLCollisionObject::getCollisionObject_fcl</a></div><div class="ttdeci">std::shared_ptr&lt; fcl::CollisionObject&lt; FCL_PRECISION &gt; &gt; getCollisionObject_fcl(void) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object_8cc_source.html#l00132">fcl_collision_object.cc:132</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_html_a3998dd02d15239f4e3b6efc166f6f91d"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#a3998dd02d15239f4e3b6efc166f6f91d">collision::solvers::solverFCL::CollisionData::request</a></div><div class="ttdeci">fcl::CollisionRequest&lt; S &gt; request</div><div class="ttdoc">Collision request.</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00171">fcl_collision_requests.h:171</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries_html_ae32aeaffef16429ed08cf60bc5dacb09"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">collision::solvers::solverFCL::fcl_primitive_queries::fcl_generic_collisionDetection</a></div><div class="ttdeci">bool fcl_generic_collisionDetection(const FCLCollisionObject &amp;obj_first, const FCLCollisionObject &amp;obj_second)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__queries_8h_source.html#l00088">fcl_collision_queries.h:88</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries_html_a9c6317723211c928a40518ddbe75d2d5"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a9c6317723211c928a40518ddbe75d2d5">collision::solvers::solverFCL::fcl_primitive_queries::fcl_collisionDetection</a></div><div class="ttdeci">bool fcl_collisionDetection(const Point &amp;point, const RectangleAABB &amp;aabb)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__queries_8h_source.html#l00225">fcl_collision_queries.h:225</a></div></div>
<div class="ttc" id="fcl__decl_8h_html_ac452cb3fe2aa89056f0a0cf62c73e1bf"><div class="ttname"><a href="fcl__decl_8h.html#ac452cb3fe2aa89056f0a0cf62c73e1bf">FCL_SOLVER_TYPE</a></div><div class="ttdeci">#define FCL_SOLVER_TYPE</div><div class="ttdef"><b>Definition:</b> <a href="fcl__decl_8h_source.html#l00018">fcl_decl.h:18</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_overlap_html"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_overlap.html">collision::solvers::solverFCL::CollisionDataOverlap</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00189">fcl_collision_requests.h:189</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries_html_a14e12f301ddc98e69eac5cd268df1c1b"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a14e12f301ddc98e69eac5cd268df1c1b">collision::solvers::solverFCL::fcl_primitive_queries::fcl_collide</a></div><div class="ttdeci">bool fcl_collide(const fcl::CollisionObject&lt; FCL_PRECISION &gt; &amp;object_A, const fcl::CollisionObject&lt; FCL_PRECISION &gt; &amp;object_B)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__queries_8h_source.html#l00077">fcl_collision_queries.h:77</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html">collision::RectangleAABB</a></div><div class="ttdoc">Axis-aligned rectangle.</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8h_source.html#l00018">rectangle_aabb.h:18</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html"><div class="ttname"><a href="classcollision_1_1_shape.html">collision::Shape</a></div><div class="ttdoc">Base prototype for the shape of an obstacle.</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00024">shape.h:24</a></div></div>
<div class="ttc" id="rectangle__aabb_8h_html"><div class="ttname"><a href="rectangle__aabb_8h.html">rectangle_aabb.h</a></div></div>
<div class="ttc" id="fcl__helpers_8h_html"><div class="ttname"><a href="fcl__helpers_8h.html">fcl_helpers.h</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries_html_a1ee5dc99b04ac808c89d4d7d60f5244b"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a1ee5dc99b04ac808c89d4d7d60f5244b">collision::solvers::solverFCL::fcl_primitive_queries::fcl_group_overlap</a></div><div class="ttdeci">int fcl_group_overlap(const FCLCollisionObjectGroup &amp;group_first, const FCLCollisionObjectGroup &amp;group_second, std::vector&lt; std::pair&lt; int, int &gt;&gt; &amp;retlist, std::vector&lt; std::pair&lt; int, int &gt;&gt; *missed_col_naive_in=0)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__queries_8h_source.html#l00144">fcl_collision_queries.h:144</a></div></div>
<div class="ttc" id="shape_8h_html"><div class="ttname"><a href="shape_8h.html">shape.h</a></div></div>
<div class="ttc" id="rectangle__obb_8h_html"><div class="ttname"><a href="rectangle__obb_8h.html">rectangle_obb.h</a></div></div>
<div class="ttc" id="classcollision_1_1test_1_1_shape_group_test_html_adc5f5a28b1a6cee9de57a69f15f3e0bc"><div class="ttname"><a href="classcollision_1_1test_1_1_shape_group_test.html#adc5f5a28b1a6cee9de57a69f15f3e0bc">collision::test::ShapeGroupTest::run_test_narrowphase</a></div><div class="ttdeci">bool run_test_narrowphase(CollisionObjectConstPtr co, const ShapeGroup *sg)</div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_html"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html">collision::solvers::solverFCL::CollisionData</a></div><div class="ttdoc">Collision data stores the collision request and the result given by collision algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00167">fcl_collision_requests.h:167</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries_html_ad65756f05b6cff5095b454fedec4f9c1"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ad65756f05b6cff5095b454fedec4f9c1">collision::solvers::solverFCL::fcl_primitive_queries::CollisionGeometryPtr_t</a></div><div class="ttdeci">std::shared_ptr&lt; fcl::CollisionGeometry&lt; FCL_PRECISION &gt; &gt; CollisionGeometryPtr_t</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__queries_8h_source.html#l00070">fcl_collision_queries.h:70</a></div></div>
<div class="ttc" id="classcollision_1_1_point_html"><div class="ttname"><a href="classcollision_1_1_point.html">collision::Point</a></div><div class="ttdoc">A point in space.</div><div class="ttdef"><b>Definition:</b> <a href="point_8h_source.html#l00018">point.h:18</a></div></div>
<div class="ttc" id="classcollision_1_1_polygon_html"><div class="ttname"><a href="classcollision_1_1_polygon.html">collision::Polygon</a></div><div class="ttdoc">Polygon contains Triangles and Vertices.</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8h_source.html#l00019">polygon.h:19</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html_a0282f6f354fcf08e35e4373183374c4e"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html#a0282f6f354fcf08e35e4373183374c4e">collision::RectangleAABB::max</a></div><div class="ttdeci">Eigen::Vector2d max() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8cc_source.html#l00062">rectangle_aabb.cc:62</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html_a68852c711d2671871f96f087fb36e57c"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a68852c711d2671871f96f087fb36e57c">collision::solvers::solverFCL::FCLCollisionObjectGroup::getManager_fcl</a></div><div class="ttdeci">int getManager_fcl(fcl::BroadPhaseCollisionManager&lt; FCL_PRECISION &gt; *&amp;) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8cc_source.html#l00119">fcl_collision_object_group.cc:119</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries_html_a8880000e056a823b8d817c05f1bf8d97"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a8880000e056a823b8d817c05f1bf8d97">collision::solvers::solverFCL::fcl_primitive_queries::fcl_get_3d_translation</a></div><div class="ttdeci">fcl::Transform3&lt; FCL_PRECISION &gt; fcl_get_3d_translation(const Eigen::Vector2d &amp;pos)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__queries_8h_source.html#l00073">fcl_collision_queries.h:73</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html_a4412f500cc20a3300a1be561e1722b87"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a4412f500cc20a3300a1be561e1722b87">collision::solvers::solverFCL::FCLCollisionObjectGroup::getParent</a></div><div class="ttdeci">const CollisionObject * getParent(void) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8h_source.html#l00061">fcl_collision_object_group.h:61</a></div></div>
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